Petter Bellander / Mbed 2 deprecated Saab-BT

Simulated the CD changer of a Saab to implement a bluetooth connection to the car stereo. Control of playback device (phone) with steering wheel buttons. Needs a RN52 bluetooth transciever and a CAN transiever. So far only audio playback and control via steering wheel buttons implemented. Hands free calling planned.

Dependencies:   mbed

CDC.cpp@11:74844f6ca8cf, 2016-01-28 (annotated)

Committer:
petter
Date:
Thu Jan 28 21:22:08 2016 +0000
Revision:
11:74844f6ca8cf
Parent:
10:8be92db98bf4
Child:
12:4194c47ca60b
Added power saving, added RN52 timeout.; Added errors in display and track metadata

Who changed what in which revision?

UserRevisionLine numberNew contents of line
petter 0:6cf6e566c0da 1 // I-Bus information from http://pikkupossu.1g.fi/tomi/projects/i-bus/i-bus.html
petter 0:6cf6e566c0da 2 // 290h - Steering wheel and SID buttons | Rx
petter 0:6cf6e566c0da 3 // 328h - SID audio text | Tx
petter 0:6cf6e566c0da 4 // 32Ch - ACC to SID text
petter 0:6cf6e566c0da 5 // 32Fh - TWICE to SID text
petter 0:6cf6e566c0da 6 // 337h - SPA to SID text
petter 0:6cf6e566c0da 7 // 348h - SID audio text control | Tx
petter 0:6cf6e566c0da 8 // 34Ch - ACC to SID text control
petter 0:6cf6e566c0da 9 // 34Fh - TWICE to SID text control
petter 0:6cf6e566c0da 10 // 357h - SPA to SID text control
petter 0:6cf6e566c0da 11 // 368h - SID text priority | Tx
petter 0:6cf6e566c0da 12 // 3C0h - CD Changer control | Rx
petter 0:6cf6e566c0da 13 // 3C8h - CD Changer information | Tx
petter 0:6cf6e566c0da 14 // 430h - SID beep request | Tx
petter 0:6cf6e566c0da 15 // 6A1h - Audio head unit | Rx
petter 0:6cf6e566c0da 16 // 6A2h - CD changer | Tx
petter 0:6cf6e566c0da 17 // 320h - Doors, central locking and seat belts | Rx
petter 0:6cf6e566c0da 18
petter 0:6cf6e566c0da 19 /** Includes **/
petter 0:6cf6e566c0da 20 #include "CDC.h"
petter 0:6cf6e566c0da 21
petter 0:6cf6e566c0da 22 /** Various constants used for identifying the CDC **/
petter 0:6cf6e566c0da 23 #define CDC_APL_ADR 0x11
petter 0:6cf6e566c0da 24 #define CDC_SID_FUNCTION_ID 0x19
petter 0:6cf6e566c0da 25
petter 0:6cf6e566c0da 26 /** TX IDs: **/
petter 0:6cf6e566c0da 27 #define GENERAL_STATUS_CDC 0x3C8
petter 0:6cf6e566c0da 28 #define DISPLAY_RESOURCE_REQ 0x348 // 'Stolen' from the IHU since the CDC doesn't send this message
petter 0:6cf6e566c0da 29 #define WRITE_TEXT_ON_DISPLAY 0x328 // 'Stolen' from the IHU since the CDC doesn't send this message
petter 0:6cf6e566c0da 30 #define NODE_STATUS_TX 0x6A2
petter 0:6cf6e566c0da 31 #define SOUND_REQUEST 0x430
petter 0:6cf6e566c0da 32
petter 0:6cf6e566c0da 33 /** RX IDs: **/
petter 0:6cf6e566c0da 34 #define LOCK_STATUS 0x320
petter 0:6cf6e566c0da 35 #define IHU_BUTTONS 0x3C0
petter 0:6cf6e566c0da 36 #define DISPLAY_RESOURCE_GRANT 0x368
petter 0:6cf6e566c0da 37 #define NODE_STATUS_RX 0x6A1
petter 0:6cf6e566c0da 38 #define STEERING_WHEEL_BUTTONS 0x290
petter 0:6cf6e566c0da 39
petter 0:6cf6e566c0da 40
petter 0:6cf6e566c0da 41 /** Variables: **/
petter 0:6cf6e566c0da 42 bool cdc_active = false; // True while our module, the simulated CDC, is active.
petter 0:6cf6e566c0da 43 bool mute = false;
petter 0:6cf6e566c0da 44 int toggle_shuffle = 1;
petter 6:c454f88524d6 45 int ninefive_cmd[] = {0x32,0x00,0x00,0x16,0x01,0x02,0x00,0x00,-1};
petter 0:6cf6e566c0da 46 int beep_cmd[] = {0x80,0x04,0x00,0x00,0x00,0x00,0x00,0x00,-1};
petter 0:6cf6e566c0da 47 int cdc_status_cmd[] = {0xE0,0x00,0x01,0x41,0x01,0x00,0x00,0xD0,-1};
petter 11:74844f6ca8cf 48 int display_request_cmd[] = {CDC_APL_ADR,0x02,0x05,CDC_SID_FUNCTION_ID,0x00,0x00,0x00,0x00,-1};
petter 0:6cf6e566c0da 49 //int display_clear_cmd[] = {CDC_APL_ADR,0x02,0xFF,CDC_SID_FUNCTION_ID,0x00,0x00,0x00,0x00,-1};
petter 0:6cf6e566c0da 50
petter 0:6cf6e566c0da 51 /** Com: **/
petter 0:6cf6e566c0da 52 CAN can(p9, p10);
petter 0:6cf6e566c0da 53 CANMessage CAN_TxMsg;
petter 0:6cf6e566c0da 54 CANMessage CAN_RxMsg;
petter 11:74844f6ca8cf 55 CANMessage CAN_DispMsg[3];
petter 0:6cf6e566c0da 56
petter 0:6cf6e566c0da 57 /** I/O: **/
petter 0:6cf6e566c0da 58 DigitalOut led1(LED1, 0);
petter 0:6cf6e566c0da 59 DigitalOut led2(LED2, 0);
petter 0:6cf6e566c0da 60
petter 2:10c60edc8573 61 /** Timers: **/
petter 2:10c60edc8573 62 Timer playback;
petter 11:74844f6ca8cf 63 Timer sleep_timer;
petter 2:10c60edc8573 64
petter 0:6cf6e566c0da 65 /******************************************************************************
petter 0:6cf6e566c0da 66 * PUBLIC METHODS
petter 0:6cf6e566c0da 67 ******************************************************************************/
petter 0:6cf6e566c0da 68
petter 0:6cf6e566c0da 69 /** Initializes CDC **/
petter 0:6cf6e566c0da 70 void CDC::init() {
petter 0:6cf6e566c0da 71 can.frequency(47619);
petter 0:6cf6e566c0da 72 printf("CAN Frequency set\r\n");
petter 0:6cf6e566c0da 73 CAN_wrFilter(1, IHU_BUTTONS);
petter 0:6cf6e566c0da 74 CAN_wrFilter(1, DISPLAY_RESOURCE_GRANT);
petter 0:6cf6e566c0da 75 CAN_wrFilter(1, NODE_STATUS_RX);
petter 0:6cf6e566c0da 76 CAN_wrFilter(1, STEERING_WHEEL_BUTTONS);
petter 0:6cf6e566c0da 77 CAN_wrFilter(1, DISPLAY_RESOURCE_REQ);
petter 0:6cf6e566c0da 78 printf("CAN Filters set\r\n");
petter 0:6cf6e566c0da 79
petter 0:6cf6e566c0da 80 CAN_TxMsg.len = 8;
petter 11:74844f6ca8cf 81 CAN_DispMsg[0].len = 8;
petter 11:74844f6ca8cf 82 CAN_DispMsg[1].len = 8;
petter 11:74844f6ca8cf 83 CAN_DispMsg[2].len = 8;
petter 11:74844f6ca8cf 84 CAN_DispMsg[0].id = WRITE_TEXT_ON_DISPLAY;
petter 11:74844f6ca8cf 85 CAN_DispMsg[1].id = WRITE_TEXT_ON_DISPLAY;
petter 11:74844f6ca8cf 86 CAN_DispMsg[2].id = WRITE_TEXT_ON_DISPLAY;
petter 11:74844f6ca8cf 87 CAN_DispMsg[0].data[0] = 0x42; // order, new
petter 11:74844f6ca8cf 88 CAN_DispMsg[1].data[0] = 0x01; // order
petter 11:74844f6ca8cf 89 CAN_DispMsg[2].data[0] = 0x00; // order
petter 11:74844f6ca8cf 90 CAN_DispMsg[0].data[1] = 0x96; // Address of the SID
petter 11:74844f6ca8cf 91 CAN_DispMsg[1].data[1] = 0x96; // Address of the SID
petter 11:74844f6ca8cf 92 CAN_DispMsg[2].data[1] = 0x96; // Address of the SID
petter 11:74844f6ca8cf 93 CAN_DispMsg[0].data[2] = 0x01; // Writing to row 1
petter 11:74844f6ca8cf 94 CAN_DispMsg[1].data[2] = 0x01; // Writing to row 1
petter 11:74844f6ca8cf 95 CAN_DispMsg[2].data[2] = 0x01; // Writing to row 1
petter 11:74844f6ca8cf 96 display("");
petter 11:74844f6ca8cf 97
petter 11:74844f6ca8cf 98 sleep_timer.start();
petter 0:6cf6e566c0da 99 }
petter 0:6cf6e566c0da 100
petter 0:6cf6e566c0da 101 /** Handles an incoming (RX) frame **/
petter 11:74844f6ca8cf 102 IBUS_COMMAND CDC::get_cmd() {
petter 0:6cf6e566c0da 103 if(can.read(CAN_RxMsg)) {
petter 0:6cf6e566c0da 104 led2 = !led2;
petter 0:6cf6e566c0da 105 CAN_TxMsg.data[0]++;
petter 0:6cf6e566c0da 106 switch (CAN_RxMsg.id) {
petter 0:6cf6e566c0da 107 case DISPLAY_RESOURCE_REQ:
petter 11:74844f6ca8cf 108 sleep_timer.reset();
petter 11:74844f6ca8cf 109 send_can_frame(DISPLAY_RESOURCE_REQ, display_request_cmd);
petter 2:10c60edc8573 110 update_elapsed_time();
petter 0:6cf6e566c0da 111 send_can_frame(GENERAL_STATUS_CDC, cdc_status_cmd);
petter 11:74844f6ca8cf 112 return IBUS_HEAD_UNIT_ON;
petter 0:6cf6e566c0da 113 case NODE_STATUS_RX:
petter 6:c454f88524d6 114 send_can_frame(NODE_STATUS_TX, ninefive_cmd);
petter 0:6cf6e566c0da 115 break;
petter 0:6cf6e566c0da 116 case IHU_BUTTONS:
petter 0:6cf6e566c0da 117 return get_ihu_cmd();
petter 0:6cf6e566c0da 118 case STEERING_WHEEL_BUTTONS:
petter 0:6cf6e566c0da 119 return get_steering_wheel_cmd();
petter 0:6cf6e566c0da 120 case DISPLAY_RESOURCE_GRANT:
petter 10:8be92db98bf4 121 if (CAN_RxMsg.data[1] == CDC_SID_FUNCTION_ID) {
petter 0:6cf6e566c0da 122 //We have been granted the right to write text to the second row in the SID
petter 11:74844f6ca8cf 123 display_request_cmd[2] = 0x04;
petter 11:74844f6ca8cf 124 display_update();
petter 0:6cf6e566c0da 125 }
petter 10:8be92db98bf4 126 else {
petter 10:8be92db98bf4 127 //Someone else has been granted the display, we need to back down
petter 11:74844f6ca8cf 128 display_request_cmd[2] = 0x05; //message is considered new
petter 0:6cf6e566c0da 129 }
petter 0:6cf6e566c0da 130 break;
petter 0:6cf6e566c0da 131 }
petter 0:6cf6e566c0da 132 return IBUS_OTHER_MESSAGE;
petter 11:74844f6ca8cf 133 }
petter 11:74844f6ca8cf 134 if(sleep_timer.read() > 5) {
petter 11:74844f6ca8cf 135 return IBUS_HEAD_UNIT_OFF;
petter 0:6cf6e566c0da 136 }
petter 0:6cf6e566c0da 137 return IBUS_NO_MESSAGE;
petter 0:6cf6e566c0da 138 }
petter 0:6cf6e566c0da 139
petter 0:6cf6e566c0da 140 /** Handles the IHU_BUTTONS frame that the IHU sends us when it wants to control some feature of the CDC **/
petter 0:6cf6e566c0da 141 IBUS_COMMAND CDC::get_ihu_cmd() {
petter 0:6cf6e566c0da 142 bool event = (CAN_RxMsg.data[0] == 0x80);
petter 0:6cf6e566c0da 143 if (!event) {
petter 0:6cf6e566c0da 144 //Ignore the message if it wasn't sent on event
petter 0:6cf6e566c0da 145 return IBUS_OTHER_MESSAGE;
petter 0:6cf6e566c0da 146 }
petter 0:6cf6e566c0da 147 switch (CAN_RxMsg.data[1]) {
petter 0:6cf6e566c0da 148 case 0x24: // CDC = ON (CD/RDM button has been pressed twice)
petter 0:6cf6e566c0da 149 cdc_active = true;
petter 0:6cf6e566c0da 150 return IBUS_CDC_ON;
petter 0:6cf6e566c0da 151 case 0x14: // CDC = OFF (Back to Radio or Tape mode)
petter 0:6cf6e566c0da 152 cdc_active = false;
petter 0:6cf6e566c0da 153 return IBUS_CDC_OFF;
petter 0:6cf6e566c0da 154 }
petter 0:6cf6e566c0da 155 if (cdc_active) {
petter 0:6cf6e566c0da 156 switch (CAN_RxMsg.data[1]) {
petter 0:6cf6e566c0da 157 case 0x35: // Track up
petter 0:6cf6e566c0da 158 return IBUS_SKIP_FW;
petter 0:6cf6e566c0da 159 case 0x36: // Track down
petter 0:6cf6e566c0da 160 return IBUS_SKIP_BW;
petter 0:6cf6e566c0da 161 }
petter 0:6cf6e566c0da 162 }
petter 0:6cf6e566c0da 163 return IBUS_OTHER_MESSAGE;
petter 0:6cf6e566c0da 164 }
petter 0:6cf6e566c0da 165
petter 0:6cf6e566c0da 166 /** Handles the STEERING_WHEEL_BUTTONS frame * TODO connect the SID button events to actions **/
petter 0:6cf6e566c0da 167 IBUS_COMMAND CDC::get_steering_wheel_cmd() {
petter 0:6cf6e566c0da 168
petter 0:6cf6e566c0da 169 bool event = (CAN_RxMsg.data[0] == 0x80);
petter 0:6cf6e566c0da 170 if (!event) {
petter 0:6cf6e566c0da 171 //Ignore the message if it wasn't sent on event
petter 0:6cf6e566c0da 172 return IBUS_OTHER_MESSAGE;
petter 0:6cf6e566c0da 173 }
petter 0:6cf6e566c0da 174 if (!cdc_active) {
petter 0:6cf6e566c0da 175 return IBUS_OTHER_MESSAGE;
petter 0:6cf6e566c0da 176 }
petter 0:6cf6e566c0da 177 switch (CAN_RxMsg.data[4]) {
petter 0:6cf6e566c0da 178 case 0x04: // NXT button on wheel
petter 0:6cf6e566c0da 179 return IBUS_NEXT;
petter 0:6cf6e566c0da 180 case 0x10: // Seek+ button on wheel
petter 0:6cf6e566c0da 181 return IBUS_SKIP_FW;
petter 0:6cf6e566c0da 182 case 0x08: // Seek- button on wheel
petter 0:6cf6e566c0da 183 return IBUS_SKIP_BW;
petter 0:6cf6e566c0da 184 case 0x40: // Vol+ button on wheel
petter 0:6cf6e566c0da 185 return IBUS_VOLUME_UP;
petter 0:6cf6e566c0da 186 case 0x80: // Vol- button on wheel
petter 0:6cf6e566c0da 187 return IBUS_VOLUME_DOWN;
petter 0:6cf6e566c0da 188 }
petter 0:6cf6e566c0da 189 switch (CAN_RxMsg.data[5]) {
petter 0:6cf6e566c0da 190 case 0x40: // SET button on SID
petter 0:6cf6e566c0da 191 return IBUS_SET;
petter 0:6cf6e566c0da 192 case 0x80: // CLEAR button on SID
petter 0:6cf6e566c0da 193 return IBUS_CLEAR;
petter 0:6cf6e566c0da 194 }
petter 0:6cf6e566c0da 195 return IBUS_OTHER_MESSAGE;
petter 0:6cf6e566c0da 196 }
petter 0:6cf6e566c0da 197
petter 0:6cf6e566c0da 198
petter 0:6cf6e566c0da 199
petter 0:6cf6e566c0da 200 /** Writes the provided text on the SID. NOTE the character set used by the SID is slightly nonstandard. "Normal" characters should work fine. **/
petter 11:74844f6ca8cf 201 void CDC::display(char text[]) {
petter 0:6cf6e566c0da 202 if (!text) {
petter 0:6cf6e566c0da 203 return;
petter 0:6cf6e566c0da 204 }
petter 0:6cf6e566c0da 205
petter 0:6cf6e566c0da 206 //Notify the SID that we want to display a message
petter 11:74844f6ca8cf 207 send_can_frame(DISPLAY_RESOURCE_REQ, display_request_cmd);
petter 0:6cf6e566c0da 208
petter 0:6cf6e566c0da 209 // Copy the provided string and make sure we have a new array of the correct length:
petter 0:6cf6e566c0da 210 char display_text[15];
petter 0:6cf6e566c0da 211 int i, n;
petter 0:6cf6e566c0da 212 n = strlen(text);
petter 0:6cf6e566c0da 213 if(n > 15) {
petter 0:6cf6e566c0da 214 n = 15;
petter 0:6cf6e566c0da 215 }
petter 0:6cf6e566c0da 216 for (i = 0; i < n; i++) {
petter 0:6cf6e566c0da 217 display_text[i] = text[i];
petter 0:6cf6e566c0da 218 }
petter 9:9a4c81493a3d 219 for (i = n; i < 15; i++) {
petter 0:6cf6e566c0da 220 display_text[i] = 0;
petter 0:6cf6e566c0da 221 }
petter 0:6cf6e566c0da 222
petter 11:74844f6ca8cf 223 CAN_DispMsg[0].data[2] = 0x82; // Sent on basetime, writing to row 2, message changed
petter 11:74844f6ca8cf 224 CAN_DispMsg[0].data[3] = display_text[0];
petter 11:74844f6ca8cf 225 CAN_DispMsg[0].data[4] = display_text[1];
petter 11:74844f6ca8cf 226 CAN_DispMsg[0].data[5] = display_text[2];
petter 11:74844f6ca8cf 227 CAN_DispMsg[0].data[6] = display_text[3];
petter 11:74844f6ca8cf 228 CAN_DispMsg[0].data[7] = display_text[4];
petter 0:6cf6e566c0da 229
petter 11:74844f6ca8cf 230 CAN_DispMsg[1].data[3] = display_text[5];
petter 11:74844f6ca8cf 231 CAN_DispMsg[1].data[4] = display_text[6];
petter 11:74844f6ca8cf 232 CAN_DispMsg[1].data[5] = display_text[7];
petter 11:74844f6ca8cf 233 CAN_DispMsg[1].data[6] = display_text[8];
petter 11:74844f6ca8cf 234 CAN_DispMsg[1].data[7] = display_text[9];
petter 0:6cf6e566c0da 235
petter 11:74844f6ca8cf 236 CAN_DispMsg[2].data[3] = display_text[10];
petter 11:74844f6ca8cf 237 CAN_DispMsg[2].data[4] = display_text[11];
petter 11:74844f6ca8cf 238 CAN_DispMsg[2].data[5] = display_text[12];
petter 11:74844f6ca8cf 239 CAN_DispMsg[2].data[6] = display_text[13];
petter 11:74844f6ca8cf 240 CAN_DispMsg[2].data[7] = display_text[14];
petter 0:6cf6e566c0da 241 }
petter 0:6cf6e566c0da 242
petter 0:6cf6e566c0da 243 /** Writes the provided text on the SID. NOTE the character set used by the SID is slightly nonstandard. "Normal" characters should work fine. **/
petter 11:74844f6ca8cf 244 void CDC::display_update() {
petter 11:74844f6ca8cf 245 can.write(CAN_DispMsg[0]);
petter 11:74844f6ca8cf 246 can.write(CAN_DispMsg[1]);
petter 11:74844f6ca8cf 247 can.write(CAN_DispMsg[2]);
petter 11:74844f6ca8cf 248 CAN_DispMsg[0].data[2] = 0x02; // Message not changed next transmission unless display() is called
petter 0:6cf6e566c0da 249 }
petter 0:6cf6e566c0da 250
petter 2:10c60edc8573 251 /** Sets the elapsed time in the cdc_status message **/
petter 2:10c60edc8573 252 void CDC::update_elapsed_time() {
petter 2:10c60edc8573 253 cdc_status_cmd[5] = (char)(((int)playback.read())/60);
petter 2:10c60edc8573 254 cdc_status_cmd[6] = (char)(((int)playback.read())%60);
petter 2:10c60edc8573 255 }
petter 2:10c60edc8573 256
petter 2:10c60edc8573 257 /** Resets the elapsed time in the cdc_status message **/
petter 2:10c60edc8573 258 void CDC::reset_elapsed_time() {
petter 2:10c60edc8573 259 playback.reset();
petter 2:10c60edc8573 260 }
petter 2:10c60edc8573 261
petter 2:10c60edc8573 262 /** Stops the elapsed time in the cdc_status message **/
petter 2:10c60edc8573 263 void CDC::stop_elapsed_time() {
petter 2:10c60edc8573 264 playback.stop();
petter 2:10c60edc8573 265 }
petter 2:10c60edc8573 266
petter 2:10c60edc8573 267 /** Starts the elapsed time in the cdc_status message **/
petter 2:10c60edc8573 268 void CDC::start_elapsed_time() {
petter 2:10c60edc8573 269 playback.start();
petter 0:6cf6e566c0da 270 }
petter 0:6cf6e566c0da 271
petter 6:c454f88524d6 272 /** Sets the current track number as playing **/
petter 6:c454f88524d6 273 void CDC::set_track(char track_number) {
petter 6:c454f88524d6 274 cdc_status_cmd[4] = track_number;
petter 6:c454f88524d6 275 }
petter 6:c454f88524d6 276
petter 0:6cf6e566c0da 277
petter 0:6cf6e566c0da 278 /** Formats and puts a frame on CAN bus **/
petter 0:6cf6e566c0da 279 void CDC::send_can_frame(int message_id, int *msg) {
petter 0:6cf6e566c0da 280 CAN_TxMsg.id = message_id;
petter 0:6cf6e566c0da 281 int i = 0;
petter 0:6cf6e566c0da 282 while (msg[i] != -1) {
petter 0:6cf6e566c0da 283 CAN_TxMsg.data[i] = msg[i];
petter 0:6cf6e566c0da 284 i++;
petter 0:6cf6e566c0da 285 }
petter 0:6cf6e566c0da 286 can.write(CAN_TxMsg);
petter 0:6cf6e566c0da 287 }
petter 0:6cf6e566c0da 288
petter 0:6cf6e566c0da 289 /** DEBUG: Prints the CAN TX frame to serial output **/
petter 0:6cf6e566c0da 290 void CDC::print_can_frame(CANMessage *msg){
petter 0:6cf6e566c0da 291 printf("CAN message %X:", msg->id);
petter 0:6cf6e566c0da 292 for (int i = 0; i < msg->len; i++) {
petter 0:6cf6e566c0da 293 printf(" %X", msg->data[i]);
petter 0:6cf6e566c0da 294 }
petter 0:6cf6e566c0da 295 printf("\r\n");
petter 0:6cf6e566c0da 296 }
petter 0:6cf6e566c0da 297
petter 0:6cf6e566c0da 298 /*----------------------------------------------------------------------------
petter 0:6cf6e566c0da 299 setup acceptance filter. CAN controller (1..2)
petter 0:6cf6e566c0da 300 *----------------------------------------------------------------------------*/
petter 0:6cf6e566c0da 301 void CDC::CAN_wrFilter(uint32_t ctrl, uint32_t id) {
petter 0:6cf6e566c0da 302 static int CAN_std_cnt = 0;
petter 0:6cf6e566c0da 303 static int CAN_ext_cnt = 0;
petter 0:6cf6e566c0da 304 uint32_t buf0, buf1;
petter 0:6cf6e566c0da 305 int cnt1, cnt2, bound1;
petter 0:6cf6e566c0da 306
petter 0:6cf6e566c0da 307 /* Acceptance Filter Memory full */
petter 0:6cf6e566c0da 308 if ((((CAN_std_cnt + 1) >> 1) + CAN_ext_cnt) >= 512)
petter 0:6cf6e566c0da 309 return; /* error: objects full */
petter 0:6cf6e566c0da 310
petter 0:6cf6e566c0da 311 /* Setup Acceptance Filter Configuration
petter 0:6cf6e566c0da 312 Acceptance Filter Mode Register = Off */
petter 0:6cf6e566c0da 313 LPC_CANAF->AFMR = 0x00000001;
petter 0:6cf6e566c0da 314
petter 0:6cf6e566c0da 315 id |= (ctrl-1) << 13; /* Add controller number */
petter 0:6cf6e566c0da 316 id &= 0x0000F7FF; /* Mask out 16-bits of ID */
petter 0:6cf6e566c0da 317
petter 0:6cf6e566c0da 318 /* Move all remaining extended mask entries one place up
petter 0:6cf6e566c0da 319 if new entry will increase standard ID filters list */
petter 0:6cf6e566c0da 320 if ((CAN_std_cnt & 0x0001) == 0 && CAN_ext_cnt != 0) {
petter 0:6cf6e566c0da 321 cnt1 = (CAN_std_cnt >> 1);
petter 0:6cf6e566c0da 322 bound1 = CAN_ext_cnt;
petter 0:6cf6e566c0da 323 buf0 = LPC_CANAF_RAM->mask[cnt1];
petter 0:6cf6e566c0da 324 while (bound1--) {
petter 0:6cf6e566c0da 325 cnt1++;
petter 0:6cf6e566c0da 326 buf1 = LPC_CANAF_RAM->mask[cnt1];
petter 0:6cf6e566c0da 327 LPC_CANAF_RAM->mask[cnt1] = buf0;
petter 0:6cf6e566c0da 328 buf0 = buf1;
petter 0:6cf6e566c0da 329 }
petter 0:6cf6e566c0da 330 }
petter 0:6cf6e566c0da 331
petter 0:6cf6e566c0da 332 if (CAN_std_cnt == 0) { /* For entering first ID */
petter 0:6cf6e566c0da 333 LPC_CANAF_RAM->mask[0] = 0x0000FFFF | (id << 16);
petter 0:6cf6e566c0da 334 } else if (CAN_std_cnt == 1) { /* For entering second ID */
petter 0:6cf6e566c0da 335 if ((LPC_CANAF_RAM->mask[0] >> 16) > id)
petter 0:6cf6e566c0da 336 LPC_CANAF_RAM->mask[0] = (LPC_CANAF_RAM->mask[0] >> 16) | (id << 16);
petter 0:6cf6e566c0da 337 else
petter 0:6cf6e566c0da 338 LPC_CANAF_RAM->mask[0] = (LPC_CANAF_RAM->mask[0] & 0xFFFF0000) | id;
petter 0:6cf6e566c0da 339 } else {
petter 0:6cf6e566c0da 340 /* Find where to insert new ID */
petter 0:6cf6e566c0da 341 cnt1 = 0;
petter 0:6cf6e566c0da 342 cnt2 = CAN_std_cnt;
petter 0:6cf6e566c0da 343 bound1 = (CAN_std_cnt - 1) >> 1;
petter 0:6cf6e566c0da 344 while (cnt1 <= bound1) { /* Loop through standard existing IDs */
petter 0:6cf6e566c0da 345 if ((LPC_CANAF_RAM->mask[cnt1] >> 16) > id) {
petter 0:6cf6e566c0da 346 cnt2 = cnt1 * 2;
petter 0:6cf6e566c0da 347 break;
petter 0:6cf6e566c0da 348 }
petter 0:6cf6e566c0da 349 if ((LPC_CANAF_RAM->mask[cnt1] & 0x0000FFFF) > id) {
petter 0:6cf6e566c0da 350 cnt2 = cnt1 * 2 + 1;
petter 0:6cf6e566c0da 351 break;
petter 0:6cf6e566c0da 352 }
petter 0:6cf6e566c0da 353 cnt1++; /* cnt1 = U32 where to insert new ID */
petter 0:6cf6e566c0da 354 } /* cnt2 = U16 where to insert new ID */
petter 0:6cf6e566c0da 355
petter 0:6cf6e566c0da 356 if (cnt1 > bound1) { /* Adding ID as last entry */
petter 0:6cf6e566c0da 357 if ((CAN_std_cnt & 0x0001) == 0) /* Even number of IDs exists */
petter 0:6cf6e566c0da 358 LPC_CANAF_RAM->mask[cnt1] = 0x0000FFFF | (id << 16);
petter 0:6cf6e566c0da 359 else /* Odd number of IDs exists */
petter 0:6cf6e566c0da 360 LPC_CANAF_RAM->mask[cnt1] = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000) | id;
petter 0:6cf6e566c0da 361 } else {
petter 0:6cf6e566c0da 362 buf0 = LPC_CANAF_RAM->mask[cnt1]; /* Remember current entry */
petter 0:6cf6e566c0da 363 if ((cnt2 & 0x0001) == 0) /* Insert new mask to even address */
petter 0:6cf6e566c0da 364 buf1 = (id << 16) | (buf0 >> 16);
petter 0:6cf6e566c0da 365 else /* Insert new mask to odd address */
petter 0:6cf6e566c0da 366 buf1 = (buf0 & 0xFFFF0000) | id;
petter 0:6cf6e566c0da 367
petter 0:6cf6e566c0da 368 LPC_CANAF_RAM->mask[cnt1] = buf1; /* Insert mask */
petter 0:6cf6e566c0da 369
petter 0:6cf6e566c0da 370 bound1 = CAN_std_cnt >> 1;
petter 0:6cf6e566c0da 371 /* Move all remaining standard mask entries one place up */
petter 0:6cf6e566c0da 372 while (cnt1 < bound1) {
petter 0:6cf6e566c0da 373 cnt1++;
petter 0:6cf6e566c0da 374 buf1 = LPC_CANAF_RAM->mask[cnt1];
petter 0:6cf6e566c0da 375 LPC_CANAF_RAM->mask[cnt1] = (buf1 >> 16) | (buf0 << 16);
petter 0:6cf6e566c0da 376 buf0 = buf1;
petter 0:6cf6e566c0da 377 }
petter 0:6cf6e566c0da 378
petter 0:6cf6e566c0da 379 if ((CAN_std_cnt & 0x0001) == 0) /* Even number of IDs exists */
petter 0:6cf6e566c0da 380 LPC_CANAF_RAM->mask[cnt1] = (LPC_CANAF_RAM->mask[cnt1] & 0xFFFF0000) | (0x0000FFFF);
petter 0:6cf6e566c0da 381 }
petter 0:6cf6e566c0da 382 }
petter 0:6cf6e566c0da 383 CAN_std_cnt++;
petter 0:6cf6e566c0da 384
petter 0:6cf6e566c0da 385 /* Calculate std ID start address (buf0) and ext ID start address (buf1) */
petter 0:6cf6e566c0da 386 buf0 = ((CAN_std_cnt + 1) >> 1) << 2;
petter 0:6cf6e566c0da 387 buf1 = buf0 + (CAN_ext_cnt << 2);
petter 0:6cf6e566c0da 388
petter 0:6cf6e566c0da 389 /* Setup acceptance filter pointers */
petter 0:6cf6e566c0da 390 LPC_CANAF->SFF_sa = 0;
petter 0:6cf6e566c0da 391 LPC_CANAF->SFF_GRP_sa = buf0;
petter 0:6cf6e566c0da 392 LPC_CANAF->EFF_sa = buf0;
petter 0:6cf6e566c0da 393 LPC_CANAF->EFF_GRP_sa = buf1;
petter 0:6cf6e566c0da 394 LPC_CANAF->ENDofTable = buf1;
petter 0:6cf6e566c0da 395
petter 0:6cf6e566c0da 396 LPC_CANAF->AFMR = 0x00000000; /* Use acceptance filter */
petter 0:6cf6e566c0da 397 }